@ARTICLE{Spiers2016TOH, 
author={A. J. Spiers and M. V. Liarokapis and B. Calli and A. M. Dollar}, 
journal={IEEE Transactions on Haptics}, 
title={Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors}, 
year={2016}, 
volume={9}, 
number={2}, 
pages={207-220}, 
keywords={Feature extraction;Grasping;Robot sensing systems;Thumb;Adaptive Grasping;Haptics Applications;Machine Learning;Object Classification;Object Feature Extraction;Robotics;Tactile Sensing;Tactile sensing;Underactuated Robot Hands;adaptive grasping;haptics applications;machine learning;object classification;object feature extraction;robotics;underactuated robot hands}, 
doi={10.1109/TOH.2016.2521378}, 
ISSN={1939-1412}, 
month={April},}